michi/KD_Hoertnagl_Fraese
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Grippercollision Implementated

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This commit is contained in:
Michael Rest
2021-07-09 14:11:30 +02:00
parent 2e77bfb62a
commit 8e316912b1
8 changed files with 18 additions and 11 deletions
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2
KD_Hoertnagel_Fraese.apj
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@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version="4.7.5.60 SP"?>
<?AutomationStudio Version="4.7.6.114 SP"?>
<Project Description="Lackierzelle" Version="1.00.0" Edition="Standard" EditionComment="Standard" xmlns="http://br-automation.co.at/AS/Project">
<Communication>
<OnlineConfiguration Name="Fraese" DeviceType="TCPIP" DeviceParameters="/IF=tcpip /LOPO=11159 /SA=99" ConnectionParameters="/COMT=2500 /RT=1000 /AM=* /SDT=5 /DAIP=192.168.1.138 /REPO=11159 /ANSL=1 /PT=11169" Description="" />

2
LastUser.set
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@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version="4.7.5.60 SP"?>
<?AutomationStudio Version="4.7.6.114 SP"?>
<ProjectSettings xmlns="http://br-automation.co.at/AS/ProjectSettings">
<ConfigurationManager ActiveConfigurationName="Config1" />
<Deployment Value="ActiveCpu" />

11
Logical/Communication/ABBCom/ABBCom.st
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@@ -137,14 +137,15 @@ PROGRAM _CYCLIC
//Ausgangs Byte 2 (16-23)
dpOutByte[2].0 := gEGP[1].In.bGripperIsOpen;
dpOutByte[2].1 := gEGP[1].In.bGripperIsClosed OR gEGP[1].In.bGripperIsClosedWithPart;
dpOutByte[2].2 := gEGP[1].In.bGripperIsClosed;
dpOutByte[2].1 := gEGP[1].In.bGripperIsClosed OR gEGP[1].In.bGripperIsClosedWithPart;
dpOutByte[2].2 := gEGP[1].In.bGripperIsClosed;
dpOutByte[2].3 := gEGP[2].In.bGripperIsOpen;
dpOutByte[2].4 := gEGP[2].In.bGripperIsClosedWithPart;
dpOutByte[2].5 := gEGP[2].In.bGripperIsClosed;
dpOutByte[2].4 := gEGP[2].In.bGripperIsClosedWithPart;
dpOutByte[2].5 := gEGP[2].In.bGripperIsClosed;
dpOutByte[2].7 := FALSE;
dpOutByte[2].6 := gbInGripper1TouchedPart;
dpOutByte[2].7 := gbInGripper2TouchedPart;
dpOutByte[3].0 := gbInPartReleased; //Spanner Bauteil offen
dpOutByte[3].1 := gCmd1.FlexfeedRobFeed.FlexfeedToRobfeed.bNoPart; //Kein Teil in Feeder

4
Logical/GlobalVars/Global.var
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@@ -132,6 +132,10 @@ END_VAR
(*IF1.ST9 - DI9371 (Eing<6E>nge)*)
(*----------------------------------------------------------------------------------------------------------------*)
(*1 St<53>rung 8R1 obsolete*)
VAR
gbInGripper1TouchedPart : BOOL; (*Kollisionssensor Greifer 1*)
gbInGripper2TouchedPart : BOOL; (*Kollisionssensor Greifer 1*)
END_VAR
(*4/5 Signale von Feeder ????*)
VAR
gbInPartReleased : BOOL; (*Bauteilspanner Offen*)

2
Physical/Config1/4PPC70_101G_20B/DTM/Communication/Communication.dtm
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File diff suppressed because one or more lines are too long

4
Physical/Config1/4PPC70_101G_20B/IoMap.iom
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@@ -168,6 +168,8 @@ VAR_CONFIG
gbInCamInspectionFinished AT %IX."22K3".DigitalInput08;
gbInCamInspectionResultOk AT %IX."22K3".DigitalInput09;
gbInCamInspectionResultNOk AT %IX."22K3".DigitalInput10;
gbSInBunkerMounted AT %IX."X20SI2100".SafeEquivalentInput0102;
gbSInBunkerMounted AT %IX."X20SI2100".SafeEquivalentInput0102;
gbSInBunkerMounted AT %IX."24K5".SafeEquivalentInput0102;
gbInGripper1TouchedPart AT %IX."22K3".DigitalInput02;
gbInGripper2TouchedPart AT %IX."22K3".DigitalInput03;
END_VAR

2
Physical/Config1/4PPC70_101G_20B/SafeLOGIC-1/BusNavigator.xostd
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@@ -1,7 +1,7 @@
<?xml version="1.0" encoding="utf-8"?>
<osdd xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.ethernet-powerlink.org/osdd osdd.xsd" xmlns:xlink="http://www.w3.org/1999/xlink" Version="1.6" xmlns="http://www.ethernet-powerlink.org/osdd">
<Topology SafetyDomain="1">
<GeneratorDescription Name="AutomationStudio" Version="4.7.5.60" LanguageID="1">
<GeneratorDescription Name="AutomationStudio" Version="4.7.6.114" LanguageID="1">
<Info Name="ARVersion" Value="47203" />
<Info Name="SafetyRelease" Value="1.10" />
<Info Name="Communication" Value="/IF=tcpip /LOPO=11159 /SA=99 /COMT=2500 /RT=1000 /AM=* /SDT=5 /DAIP=192.168.1.138 /REPO=11159 /ANSL=1 /PT=11169 /PORT=50000" />

2
michi.set
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@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version="4.7.5.60 SP"?>
<?AutomationStudio Version="4.7.6.114 SP"?>
<ProjectSettings xmlns="http://br-automation.co.at/AS/ProjectSettings">
<ConfigurationManager ActiveConfigurationName="Config1" />
<Deployment Value="ActiveCpu" />